Data-Driven Formation Control for Unknown MIMO Nonlinear Discrete-Time Multi-Agent Systems With Sensor Fault

A data-driven distributed formation control algorithm is proposed for an unknown heterogeneous non-affine nonlinear discrete-time MIMO multi-agent system (MAS) with sensor fault. For the considered unknown MAS, the dynamic linearization technique in model-free adaptive control (MFAC) theory is used to transform the unknown MAS into an equivalent virtual dynamic linearization data model. Then using the virtual data model, the structure of the distributed model-free adaptive controller is constructed. For the incorrect signal measurements due to the sensor fault, the radial basis function neural network (RBFNN) is first trained for the MAS under the fault-free case, then using the outputs of the well-trained RBFNN and the actual outputs of MAS under sensor fault case, the estimation laws of the unknown fault and system parameters in the virtual data model are designed with only the measured input-output (I/O) data information. Finally, the boundedness of the formation error is analyzed by the contraction mapping method and mathematical induction method. The effectiveness of the proposed algorithm is illustrated by simulation examples.